OpenRaiser/Intern-Atlas huggingface dataset:
Deep Learning from Small Amount of Medical Data with Noisy Labels: A Meta-Learning Approach
Venue: arXiv cs.CV 2021
Year: 2021

Computer vision systems recently made a big leap thanks to deep neural networks. However, these systems require correctly labeled large datasets in order to be trained properly, which is very difficult to obtain for medical applications. Two main reasons for label noise in medical applications are the high complexity of the data and conflicting opinions of experts. Moreover, medical imaging datasets are commonly tiny, which makes each data very important in learning. As a result, if not handled properly, label noise significantly degrades the performance. Therefore, a label-noise-robust learning algorithm that makes use of the meta-learning paradigm is proposed in this article. The proposed solution is tested on retinopathy of prematurity (ROP) dataset with a very high label noise of 68%. Results show that the proposed algorithm significantly improves the classification algorithm's performance in the presence of noisy labels.
OnRAMP for Regulating AI in Medical Products
Venue: arXiv cs.CY 2021
Year: 2021

Medical Artificial Intelligence (AI) involves the application of machine learning algorithms to biomedical datasets in order to improve medical practices. Products incorporating medical AI require certification before deployment in most jurisdictions. To date, clear pathways for regulating medical AI are still under development. Below the level of formal pathways lies the actual practice of developing a medical AI solution. This Perspective proposes best practice guidelines for development compatible with the production of a regulatory package which, regardless of the formal regulatory path, will form a core component of a certification process. The approach is predicated on a statistical risk perspective, typical of medical device regulators, and a deep understanding of machine learning methodologies. These guidelines will allow all parties to communicate more clearly in the development of a common Good Machine Learning Practice (GMLP), and thus lead to the enhanced development of both medical AI products and regulations.
Recipes for Safety in Open-domain Chatbots
Venue: arXiv cs.CL 2021
Year: 2021

Models trained on large unlabeled corpora of human interactions will learn patterns and mimic behaviors therein, which include offensive or otherwise toxic behavior and unwanted biases. We investigate a variety of methods to mitigate these issues in the context of open-domain generative dialogue models. We introduce a new human-and-model-in-the-loop framework for both training safer models and for evaluating them, as well as a novel method to distill safety considerations inside generative models without the use of an external classifier at deployment time. We conduct experiments comparing these methods and find our new techniques are (i) safer than existing models as measured by automatic and human evaluations while (ii) maintaining usability metrics such as engagingness relative to the state of the art. We then discuss the limitations of this work by analyzing failure cases of our models.
Keys from the Sky: A First Exploration of Physical-Layer Security Using Satellite Links
Venue: arXiv cs.CR 2021
Year: 2021

In this paper, we investigate physical-layer security (PLS) methods for proximity-based group-key establishment and proof of location. Fields of application include secure car-to-car communication, privacy-preserving and secure distance evidence for healthcare or location-based feature activation. Existing technologies do not solve the problem satisfactorily, due to communication restrictions, e.g., ultra-wide band (UWB) based time of flight measurements, or trusted hardware, e.g., using global navigation satellite system (GNSS) positioning data. We introduce PLS as a solution candidate. It is information theoretically secure, which also means post-quantum resistant, and has the potential to run on resource constrained devices with low latency. Furthermore, we use wireless channel properties of satellite-to-Earth links, demonstrate the first feasibility study using off-the-shelf hardware testbeds and present first evaluation results and future directions for research.
Causal Multi-Level Fairness
Venue: arXiv cs.LG 2021
Year: 2021

Algorithmic systems are known to impact marginalized groups severely, and more so, if all sources of bias are not considered. While work in algorithmic fairness to-date has primarily focused on addressing discrimination due to individually linked attributes, social science research elucidates how some properties we link to individuals can be conceptualized as having causes at macro (e.g. structural) levels, and it may be important to be fair to attributes at multiple levels. For example, instead of simply considering race as a causal, protected attribute of an individual, the cause may be distilled as perceived racial discrimination an individual experiences, which in turn can be affected by neighborhood-level factors. This multi-level conceptualization is relevant to questions of fairness, as it may not only be important to take into account if the individual belonged to another demographic group, but also if the individual received advantaged treatment at the macro-level. In this paper, we formalize the problem of multi-level fairness using tools from causal inference in a manner that allows one to assess and account for effects of sensitive attributes at multiple levels. We show importance of the problem by illustrating residual unfairness if macro-level sensitive attributes are not accounted for, or included without accounting for their multi-level nature. Further, in the context of a real-world task of predicting income based on macro and individual-level attributes, we demonstrate an approach for mitigating unfairness, a result of multi-level sensitive attributes.
Deep Learning Models for Predicting Wildfires from Historical Remote-Sensing Data
Venue: arXiv cs.CV 2021
Year: 2021

Identifying regions that have high likelihood for wildfires is a key component of land and forestry management and disaster preparedness. We create a data set by aggregating nearly a decade of remote-sensing data and historical fire records to predict wildfires. This prediction problem is framed as three machine learning tasks. Results are compared and analyzed for four different deep learning models to estimate wildfire likelihood. The results demonstrate that deep learning models can successfully identify areas of high fire likelihood using aggregated data about vegetation, weather, and topography with an AUC of 83%.
Fully Unsupervised Person Re-identification viaSelective Contrastive Learning
Venue: arXiv cs.CV 2021
Year: 2021

Person re-identification (ReID) aims at searching the same identity person among images captured by various cameras. Unsupervised person ReID attracts a lot of attention recently, due to it works without intensive manual annotation and thus shows great potential of adapting to new conditions. Representation learning plays a critical role in unsupervised person ReID. In this work, we propose a novel selective contrastive learning framework for unsupervised feature learning. Specifically, different from traditional contrastive learning strategies, we propose to use multiple positives and adaptively sampled negatives for defining the contrastive loss, enabling to learn a feature embedding model with stronger identity discriminative representation. Moreover, we propose to jointly leverage global and local features to construct three dynamic dictionaries, among which the global and local memory banks are used for pairwise similarity computation and the mixture memory bank are used for contrastive loss definition. Experimental results demonstrate the superiority of our method in unsupervised person ReID compared with the state-of-the-arts.
Linking average- and worst-case perturbation robustness via class selectivity and dimensionality
Venue: arXiv cs.LG 2021
Year: 2021

Representational sparsity is known to affect robustness to input perturbations in deep neural networks (DNNs), but less is known about how the semantic content of representations affects robustness. Class selectivity-the variability of a unit's responses across data classes or dimensions-is one way of quantifying the sparsity of semantic representations. Given recent evidence that class selectivity may not be necessary for, and in some cases can impair generalization, we investigate whether it also confers robustness (or vulnerability) to perturbations of input data. We found that networks regularized to have lower levels of class selectivity were more robust to average-case (naturalistic) perturbations, while networks with higher class selectivity are more vulnerable. In contrast, class selectivity increases robustness to multiple types of worst-case (i.e. white box adversarial) perturbations, suggesting that while decreasing class selectivity is helpful for average-case perturbations, it is harmful for worst-case perturbations. To explain this difference, we studied the dimensionality of the networks' representations: we found that the dimensionality of early-layer representations is inversely proportional to a network's class selectivity, and that adversarial samples cause a larger increase in early-layer dimensionality than corrupted samples. Furthermore, the input-unit gradient is more variable across samples and units in high-selectivity networks compared to low-selectivity networks. These results lead to the conclusion that units participate more consistently in low-selectivity regimes compared to high-selectivity regimes, effectively creating a larger attack surface and hence vulnerability to worst-case perturbations.
Understanding the Hoarding Behaviors during the COVID-19 Pandemic using Large Scale Social Media Data
Venue: arXiv cs.SI 2021
Year: 2021

The COVID-19 pandemic has affected people's lives around the world on an unprecedented scale. We intend to investigate hoarding behaviors in response to the pandemic using large-scale social media data. First, we collect hoarding-related tweets shortly after the outbreak of the coronavirus. Next, we analyze the hoarding and anti-hoarding patterns of over 42,000 unique Twitter users in the United States from March 1 to April 30, 2020, and dissect the hoarding-related tweets by age, gender, and geographic location. We find the percentage of females in both hoarding and anti-hoarding groups is higher than that of the general Twitter user population. Furthermore, using topic modeling, we investigate the opinions expressed towards the hoarding behavior by categorizing these topics according to demographic and geographic groups. We also calculate the anxiety scores for the hoarding and anti-hoarding related tweets using a lexical approach. By comparing their anxiety scores with the baseline Twitter anxiety score, we reveal further insights. The LIWC anxiety mean for the hoarding-related tweets is significantly higher than the baseline Twitter anxiety mean. Interestingly, beer has the highest calculated anxiety score compared to other hoarded items mentioned in the tweets.
Applicability and Challenges of Deep Reinforcement Learning for Satellite Frequency Plan Design
Venue: arXiv cs.LG 2021
Year: 2021

The study and benchmarking of Deep Reinforcement Learning (DRL) models has become a trend in many industries, including aerospace engineering and communications. Recent studies in these fields propose these kinds of models to address certain complex real-time decision-making problems in which classic approaches do not meet time requirements or fail to obtain optimal solutions. While the good performance of DRL models has been proved for specific use cases or scenarios, most studies do not discuss the compromises and generalizability of such models during real operations. In this paper we explore the tradeoffs of different elements of DRL models and how they might impact the final performance. To that end, we choose the Frequency Plan Design (FPD) problem in the context of multibeam satellite constellations as our use case and propose a DRL model to address it. We identify 6 different core elements that have a major effect in its performance: the policy, the policy optimizer, the state, action, and reward representations, and the training environment. We analyze different alternatives for each of these elements and characterize their effect. We also use multiple environments to account for different scenarios in which we vary the dimensionality or make the environment nonstationary. Our findings show that DRL is a potential method to address the FPD problem in real operations, especially because of its speed in decision-making. However, no single DRL model is able to outperform the rest in all scenarios, and the best approach for each of the 6 core elements depends on the features of the operation environment. While we agree on the potential of DRL to solve future complex problems in the aerospace industry, we also reflect on the importance of designing appropriate models and training procedures, understanding the applicability of such models, and reporting the main performance tradeoffs.
Analysis of a Reduced-Order Model for the Simulation of Elastic Geometric Zigzag-Spring Meta-Materials
Venue: arXiv cs.GR 2021
Year: 2021

We analyze the performance of a reduced-order simulation of geometric meta-materials based on zigzag patterns using a simplified representation. As geometric meta-materials we denote planar cellular structures which can be fabricated in 2d and bent elastically such that they approximate doubly-curved 2-manifold surfaces in 3d space. They obtain their elasticity attributes mainly from the geometry of their cellular elements and their connections. In this paper we focus on cells build from so-called zigzag springs. The physical properties of the base material (i.e., the physical substance) influence the behavior as well, but we essentially factor them out by keeping them constant. The simulation of such complex geometric structures comes with a high computational cost, thus we propose an approach to reduce it by abstracting the zigzag cells by a simpler model and by learning the properties of their elastic deformation behavior. In particular, we analyze the influence of the sampling of the full parameter space and the expressiveness of the reduced model compared to the full model. Based on these observations, we draw conclusions on how to simulate such complex meso-structures with simpler models.
RAT iLQR: A Risk Auto-Tuning Controller to Optimally Account for Stochastic Model Mismatch
Venue: arXiv cs.RO 2021
Year: 2021

Successful robotic operation in stochastic environments relies on accurate characterization of the underlying probability distributions, yet this is often imperfect due to limited knowledge. This work presents a control algorithm that is capable of handling such distributional mismatches. Specifically, we propose a novel nonlinear MPC for distributionally robust control, which plans locally optimal feedback policies against a worst-case distribution within a given KL divergence bound from a Gaussian distribution. Leveraging mathematical equivalence between distributionally robust control and risk-sensitive optimal control, our framework also provides an algorithm to dynamically adjust the risk-sensitivity level online for risk-sensitive control. The benefits of the distributional robustness as well as the automatic risk-sensitivity adjustment are demonstrated in a dynamic collision avoidance scenario where the predictive distribution of human motion is erroneous.
Lexicon-constrained Copying Network for Chinese Abstractive Summarization
Venue: arXiv cs.CL 2021
Year: 2021

Copy mechanism allows sequence-to-sequence models to choose words from the input and put them directly into the output, which is finding increasing use in abstractive summarization. However, since there is no explicit delimiter in Chinese sentences, most existing models for Chinese abstractive summarization can only perform character copy, resulting in inefficient. To solve this problem, we propose a lexicon-constrained copying network that models multi-granularity in both encoder and decoder. On the source side, words and characters are aggregated into the same input memory using a Transformerbased encoder. On the target side, the decoder can copy either a character or a multi-character word at each time step, and the decoding process is guided by a word-enhanced search algorithm that facilitates the parallel computation and encourages the model to copy more words. Moreover, we adopt a word selector to integrate keyword information. Experiments results on a Chinese social media dataset show that our model can work standalone or with the word selector. Both forms can outperform previous character-based models and achieve competitive performances.
Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control
Venue: arXiv cs.RO 2021
Year: 2021

In this paper, we present a novel two-level variable Horizon Model Predictive Control (VH-MPC) framework for bipedal locomotion. In this framework, the higher level computes the landing location and timing (horizon length) of the swing foot to stabilize the unstable part of the center of mass (CoM) dynamics, using feedback from the CoM states. The lower level takes into account the swing foot dynamics and generates dynamically consistent trajectories for landing at the desired time as close as possible to the desired location. To do that, we use a simplified model of the robot dynamics projected in swing foot space that takes into account joint torque constraints as well as the friction cone constraints of the stance foot. We show the effectiveness of our proposed control framework by implementing robust walking patterns on our torque-controlled and open-source biped robot, Bolt. We report extensive simulations and real robot experiments in the presence of various disturbances and uncertainties.
Toward Evaluating Re-identification Risks in the Local Privacy Model
Venue: arXiv cs.CR 2021
Year: 2021

LDP (Local Differential Privacy) has recently attracted much attention as a metric of data privacy that prevents the inference of personal data from obfuscated data in the local model. However, there are scenarios in which the adversary wants to perform re-identification attacks to link the obfuscated data to users in this model. LDP can cause excessive obfuscation and destroy the utility in these scenarios because it is not designed to directly prevent re-identification. In this paper, we propose a measure of re-identification risks, which we call PIE (Personal Information Entropy). The PIE is designed so that it directly prevents re-identification attacks in the local model. It lower-bounds the lowest possible re-identification error probability (i.e., Bayes error probability) of the adversary. We analyze the relation between LDP and the PIE, and analyze the PIE and utility in distribution estimation for two obfuscation mechanisms providing LDP. Through experiments, we show that when we consider re-identification as a privacy risk, LDP can cause excessive obfuscation and destroy the utility. Then we show that the PIE can be used to guarantee low re-identification risks for the local obfuscation mechanisms while keeping high utility.
A Sequential Framework Towards an Exact SDP Verification of Neural Networks
Venue: arXiv cs.LG 2021
Year: 2021

Although neural networks have been applied to several systems in recent years, they still cannot be used in safety-critical systems due to the lack of efficient techniques to certify their robustness. A number of techniques based on convex optimization have been proposed in the literature to study the robustness of neural networks, and the semidefinite programming (SDP) approach has emerged as a leading contender for the robust certification of neural networks. The major challenge to the SDP approach is that it is prone to a large relaxation gap. In this work, we address this issue by developing a sequential framework to shrink this gap to zero by adding non-convex cuts to the optimization problem via disjunctive programming. We analyze the performance of this sequential SDP method both theoretically and empirically, and show that it bridges the gap as the number of cuts increases.
Robot Learning with Crash Constraints
Venue: arXiv cs.RO 2021
Year: 2021

In the past decade, numerous machine learning algorithms have been shown to successfully learn optimal policies to control real robotic systems. However, it is common to encounter failing behaviors as the learning loop progresses. Specifically, in robot applications where failing is undesired but not catastrophic, many algorithms struggle with leveraging data obtained from failures. This is usually caused by (i) the failed experiment ending prematurely, or (ii) the acquired data being scarce or corrupted. Both complicate the design of proper reward functions to penalize failures. In this paper, we propose a framework that addresses those issues. We consider failing behaviors as those that violate a constraint and address the problem of learning with crash constraints, where no data is obtained upon constraint violation. The no-data case is addressed by a novel GP model (GPCR) for the constraint that combines discrete events (failure/success) with continuous observations (only obtained upon success). We demonstrate the effectiveness of our framework on simulated benchmarks and on a real jumping quadruped, where the constraint threshold is unknown a priori. Experimental data is collected, by means of constrained Bayesian optimization, directly on the real robot. Our results outperform manual tuning and GPCR proves useful on estimating the constraint threshold.
TensorFlow Lite Micro: Embedded Machine Learning on TinyML Systems
Venue: arXiv cs.LG 2021
Year: 2021

Deep learning inference on embedded devices is a burgeoning field with myriad applications because tiny embedded devices are omnipresent. But we must overcome major challenges before we can benefit from this opportunity. Embedded processors are severely resource constrained. Their nearest mobile counterparts exhibit at least a 100 -- 1,000x difference in compute capability, memory availability, and power consumption. As a result, the machine-learning (ML) models and associated ML inference framework must not only execute efficiently but also operate in a few kilobytes of memory. Also, the embedded devices' ecosystem is heavily fragmented. To maximize efficiency, system vendors often omit many features that commonly appear in mainstream systems, including dynamic memory allocation and virtual memory, that allow for cross-platform interoperability. The hardware comes in many flavors (e.g., instruction-set architecture and FPU support, or lack thereof). We introduce TensorFlow Lite Micro (TF Micro), an open-source ML inference framework for running deep-learning models on embedded systems. TF Micro tackles the efficiency requirements imposed by embedded-system resource constraints and the fragmentation challenges that make cross-platform interoperability nearly impossible. The framework adopts a unique interpreter-based approach that provides flexibility while overcoming these challenges. This paper explains the design decisions behind TF Micro and describes its implementation details. Also, we present an evaluation to demonstrate its low resource requirement and minimal run-time performance overhead.